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/*************************************************************************** * * Copyright 2004 by the Massachusetts Institute of Technology. All * rights reserved. * * Developed by David Demirdjian * at the Computer Sciences and Artificial Intelligence Laboratory, * MIT, Cambridge, Massachusetts. * * Permission to use, copy, or modify this software and its documentation * for educational and research purposes only and without fee is hereby * granted, provided that this copyright notice and the original authors's * names appear on all copies and supporting documentation. If individual * files are separated from this distribution directory structure, this * copyright notice must be included. For any other uses of this software, * in original or modified form, including but not limited to distribution * in whole or in part, specific prior permission must be obtained from * MIT. These programs shall not be used, rewritten, or adapted as the * basis of a commercial software or hardware product without first * obtaining appropriate licenses from MIT. MIT. makes no representations * about the suitability of this software for any purpose. It is provided * "as is" without express or implied warranty. * **************************************************************************/ #ifndef _PROCESSING_MMX_H #define _PROCESSING_MMX_H typedef unsigned char uchar; typedef unsigned short ushort; // normalize intensities in images inline void normalizeImages(uchar* data1, uchar* data2, uchar* data3, int siz); inline void normalizeImages(uchar* data1, uchar* data, int siz); inline void normalizeImages(const uchar* data1, const uchar* data2, const uchar* data3, uchar* out1, uchar* out2, uchar* out3, int siz); inline void normalizeImages(const uchar* data1, const uchar* data2, uchar* out1, uchar* out2, int siz); // ImgSub2: D = saturation0(|S1 - S2| + |S1 - S3|) inline int ImgSubandAdd(const uchar *Src1, const uchar *Src2, const uchar *Src3, uchar *Dest, int l); // int ImgSubandAdd_sse2(const uchar *Src1, const uchar *Src2, const uchar *Src3, uchar *Dest, int l); inline int ImgSubandAdd(const uchar *Src1, const uchar *Src2, uchar *Dest, int l); inline int ImgSubandAdd2(const uchar *Src1, const uchar *Src2, const uchar *Src3, uchar* Dest1, int l, int imageSize, int width); inline int ImgSubandAdd2_Vert(const uchar *Src1, const uchar *Src2, uchar* Dest1, int l, int imageSize, int width); inline int ImgSubandAdd_Horiz(const uchar *Src1, const uchar *Src3, uchar* Dest1, int l, int imageSize, int width); // --------------------- // init BestCorrelation and SecondCOrrelation with CurrentCorrelation // init Disparity with disparityInit inline int initMinimumCorrelation(const uchar *CurrentCorrelation, uchar disparityInit, uchar *Disparity, uchar *BestCorrelation, uchar *SecondCorrelation, int bytecount); // ---------------------- // FULL IMAGE, BEST ONLY : Keith's code inline int findMinimumCorrelation(const uchar *CurrentCorrelation, uchar CurrentDisparity, uchar *Disparity, uchar *BestCorrelation, int bytecount) ; // ---------------------- // FULL IMAGE, BEST+SECOND : Keith's code inline int findMinimumCorrelation( const uchar *CurrentCorrelation, uchar CurrentDisparity, uchar *Disparity, uchar *BestCorrelation, uchar *SecondCorrelation, int bytecount); // ------------------------ image filters ------------------------------- // ------- row filters ------- inline void sum_Row(uchar* im, ushort* im_out, int rowSize, int maskSize); inline void sum_Row(ushort* im, ushort* im_out, int rowSize, int maskSize) ; inline void sum_Row_5(uchar* im, ushort* im_out, int rowSize); inline void sum_Row_5(ushort* im, ushort* im_out, int rowSize); // ------- cols filters ------- inline void avg_Col(ushort* im, uchar* im_out, int dataSize, int width, int sizeMask); inline void avg_Col_sse2(ushort* im, uchar* im_out, int dataSize, int width, int sizeMask); inline void avg_Col_5(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_7(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_9(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_11(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_13(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_15(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_17(ushort* im, uchar* im_out, int dataSize, int width); inline void add_Col_5_wb(ushort* im, uchar* im_out, int dataSize, int width); inline void add_Col_5_ww(ushort* im, ushort* im_out, int dataSize, int width); inline void sum_5x5( uchar* im, ushort* im_out, int dataSize, int width, ushort* buff); inline void sum_5x5( uchar* im, uchar* im_out, int dataSize, int width, ushort* buff); // ------- cols filters ------- inline void avg_Col_5_sse2(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_7_sse2(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_9_sse2(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_11_sse2(ushort* im, uchar* im_out, int dataSize, int width); inline void avg_Col_13_sse2(ushort* im, uchar* im_out, int dataSize, int width); // return the average pixel value inline float pixelMean(const uchar* im, int imageSize); // check that the diff. between best and second disp. scores in great enough inline void compareBestAndSecond(uchar* bestScores, uchar* secondScores, char thresh, uchar valForReplacement, uchar* disp, int dataSize); // image copy // windowWidth must be multiple of 8 inline void cropImage(const uchar* imSrc, int width, int height, uchar* imDest, int x0, int y0, int windowWidth, int windowHeight); // apply mask: if mask[]==undefined_val im[]->im[] // otherwise im[]->mask[] inline void overrideImage(uchar* im, const uchar* mask, uchar undefined_val, int imageSize); inline void overrideImageMMX(uchar* im, const uchar* mask, uchar undefined_val, int imageSize); inline void copyMMX(void* imDest, const void* imSrc, int dataSize); inline void copySSE(void* imDest, const void* imSrc, int dataSize); inline void setMMX(float* imDest, const float value, int dataSize); inline void setMMX(char* imDest, const char value, int dataSize); // multiply im. by a constant 'fact' inline void multiply(uchar* im, float fact, int imageSize); inline void multiply(const uchar* imSrc, uchar* imDest, float fact, int imageSize); inline void divide(ushort* im, uchar* div, uchar* result, int imageSize); inline void binarize(uchar* im, uchar* im_out, uchar undefined_val, int dataSize); inline void set_undefined_to_zero(uchar* im, uchar* im_out, uchar undefined_val, int dataSize); inline void set_zero_to_undefined(uchar* im, uchar* im_out, uchar undefined_val, int dataSize); // check depth validity void checkDisparityValidity(uchar* disp, uchar* buff, int buffStep, uchar* bestScore, uchar tol, uchar undefined_val, uchar nbDepth, int imageSize); void checkDisparityValidityAndSearchAround(uchar* disp, uchar* buff, int buffStep, uchar* bestScore, uchar tol, uchar undefined_val, uchar nbDepth, int imageSize); // 3D reconst void createIdxValidPixelsList(const uchar* depth_image, int* idx_valid_pixels, int& nbPoints, int siz, int UNDEFINED_DEPTH); #include "processingMMX.inl" #include "processingSSE2.inl" #endif